OpenRaiser/Intern-Atlas huggingface dataset:
Federated Data-Driven Kalman Filtering for State Estimation
Venue: arXiv cs.RO 2025
Year: 2025

This paper proposes a novel localization framework based on collaborative training or federated learning paradigm, for highly accurate localization of autonomous vehicles. More specifically, we build on the standard approach of KalmanNet, a recurrent neural network aiming to estimate the underlying system uncertainty of traditional Extended Kalman Filtering, and reformulate it by the adapt-then-combine concept to FedKalmanNet. The latter is trained in a distributed manner by a group of vehicles (or clients), with local training datasets consisting of vehicular location and velocity measurements, through a global server aggregation operation. The FedKalmanNet is then used by each vehicle to localize itself, by estimating the associated system uncertainty matrices (i.e, Kalman gain). Our aim is to actually demonstrate the benefits of collaborative training for state estimation in autonomous driving, over collaborative decision-making which requires rich V2X communication resources for measurement exchange and sensor fusion under real-time constraints. An extensive experimental and evaluation study conducted in CARLA autonomous driving simulator highlights the superior performance of FedKalmanNet over state-of-the-art collaborative decision-making approaches, in localizing vehicles without the need of real-time V2X communication.
$\spadesuit$ SPADE $\spadesuit$ Split Peak Attention DEcomposition
Venue: arXiv cs.LG 2025
Year: 2025

Demand forecasting faces challenges induced by Peak Events (PEs) corresponding to special periods such as promotions and holidays. Peak events create significant spikes in demand followed by demand ramp down periods. Neural networks like MQCNN and MQT overreact to demand peaks by carrying over the elevated PE demand into subsequent Post-Peak-Event (PPE) periods, resulting in significantly over-biased forecasts. To tackle this challenge, we introduce a neural forecasting model called Split Peak Attention DEcomposition, SPADE. This model reduces the impact of PEs on subsequent forecasts by modeling forecasting as consisting of two separate tasks: one for PEs; and the other for the rest. Its architecture then uses masked convolution filters and a specialized Peak Attention module. We show SPADE's performance on a worldwide retail dataset with hundreds of millions of products. Our results reveal an overall PPE improvement of 4.5%, a 30% improvement for most affected forecasts after promotions and holidays, and an improvement in PE accuracy by 3.9%, relative to current production models.
Interplay between Federated Learning and Explainable Artificial Intelligence: a Scoping Review
Venue: arXiv cs.LG 2025
Year: 2025

The joint implementation of federated learning (FL) and explainable artificial intelligence (XAI) could allow training models from distributed data and explaining their inner workings while preserving essential aspects of privacy. Toward establishing the benefits and tensions associated with their interplay, this scoping review maps the publications that jointly deal with FL and XAI, focusing on publications that reported an interplay between FL and model interpretability or post-hoc explanations. Out of the 37 studies meeting our criteria, only one explicitly and quantitatively analyzed the influence of FL on model explanations, revealing a significant research gap. The aggregation of interpretability metrics across FL nodes created generalized global insights at the expense of node-specific patterns being diluted. Several studies proposed FL algorithms incorporating explanation methods to safeguard the learning process against defaulting or malicious nodes. Studies using established FL libraries or following reporting guidelines are a minority. More quantitative research and structured, transparent practices are needed to fully understand their mutual impact and under which conditions it happens.
Humans and Large Language Models in Clinical Decision Support: A Study with Medical Calculators
Venue: arXiv cs.CL 2025
Year: 2025

Although large language models (LLMs) have been assessed for general medical knowledge using licensing exams, their ability to support clinical decision-making, such as selecting medical calculators, remains uncertain. We assessed nine LLMs, including open-source, proprietary, and domain-specific models, with 1,009 multiple-choice question-answer pairs across 35 clinical calculators and compared LLMs to humans on a subset of questions. While the highest-performing LLM, OpenAI o1, provided an answer accuracy of 66.0% (CI: 56.7-75.3%) on the subset of 100 questions, two human annotators nominally outperformed LLMs with an average answer accuracy of 79.5% (CI: 73.5-85.0%). Ultimately, we evaluated medical trainees and LLMs in recommending medical calculators across clinical scenarios like risk stratification and diagnosis. With error analysis showing that the highest-performing LLMs continue to make mistakes in comprehension (49.3% of errors) and calculator knowledge (7.1% of errors), our findings highlight that LLMs are not superior to humans in calculator recommendation.
Quantifying artificial intelligence through algorithmic generalization
Venue: arXiv cs.AI 2025
Year: 2025

The rapid development of artificial intelligence (AI) systems has created an urgent need for their scientific quantification. While their fluency across a variety of domains is impressive, AI systems fall short on tests requiring algorithmic reasoning -- a glaring limitation given the necessity for interpretable and reliable technology. Despite a surge of reasoning benchmarks emerging from the academic community, no theoretical framework exists to quantify algorithmic reasoning in AI systems. Here, we adopt a framework from computational complexity theory to quantify algorithmic generalization using algebraic expressions: algebraic circuit complexity. Algebraic circuit complexity theory -- the study of algebraic expressions as circuit models -- is a natural framework to study the complexity of algorithmic computation. Algebraic circuit complexity enables the study of generalization by defining benchmarks in terms of the computational requirements to solve a problem. Moreover, algebraic circuits are generic mathematical objects; an arbitrarily large number of samples can be generated for a specified circuit, making it an ideal experimental sandbox for the data-hungry models that are used today. In this Perspective, we adopt tools from algebraic circuit complexity, apply them to formalize a science of algorithmic generalization, and address key challenges for its successful application to AI science.
NeKo: Cross-Modality Post-Recognition Error Correction with Tasks-Guided Mixture-of-Experts Language Model
Venue: arXiv cs.CL 2025
Year: 2025

Construction of a general-purpose post-recognition error corrector poses a crucial question: how can we most effectively train a model on a large mixture of domain datasets? The answer would lie in learning dataset-specific features and digesting their knowledge in a single model. Previous methods achieve this by having separate correction language models, resulting in a significant increase in parameters. In this work, we present Mixture-of-Experts as a solution, highlighting that MoEs are much more than a scalability tool. We propose a Multi-Task Correction MoE, where we train the experts to become an ``expert'' of speech-to-text, language-to-text and vision-to-text datasets by learning to route each dataset's tokens to its mapped expert. Experiments on the Open ASR Leaderboard show that we explore a new state-of-the-art performance by achieving an average relative 5.0% WER reduction and substantial improvements in BLEU scores for speech and translation tasks. On zero-shot evaluation, NeKo outperforms GPT-3.5 and Claude-Opus with 15.5% to 27.6% relative WER reduction in the Hyporadise benchmark. NeKo performs competitively on grammar and post-OCR correction as a multi-task model.
Fine-Grained Reward Optimization for Machine Translation using Error Severity Mappings
Venue: arXiv cs.CL 2025
Year: 2025

Reinforcement learning (RL) has been proven to be an effective and robust method for training neural machine translation systems, especially when paired with powerful reward models that accurately assess translation quality. However, most research has focused on RL methods that use sentence-level feedback, leading to inefficient learning signals due to the reward sparsity problem -- the model receives a single score for the entire sentence. To address this, we propose a novel approach that leverages fine-grained, token-level quality assessments along with error severity levels using RL methods. Specifically, we use xCOMET, a state-of-the-art quality estimation system, as our token-level reward model. We conduct experiments on small and large translation datasets with standard encoder-decoder and large language models-based machine translation systems, comparing the impact of sentence-level versus fine-grained reward signals on translation quality. Our results show that training with token-level rewards improves translation quality across language pairs over baselines according to both automatic and human evaluation. Furthermore, token-level reward optimization improves training stability, evidenced by a steady increase in mean rewards over training epochs.
Multiuser Commitment over Noisy Channels
Venue: arXiv cs.IT 2025
Year: 2025

We consider multi-user commitment models that capture the problem of enabling multiple bidders to simultaneously submit auctions to verifiers while ensuring that i) verifiers do not obtain information on the auctions until bidders reveal them at a later stage; and, ii) bidders cannot change their auction once committed. Specifically, we assume that bidders and verifiers have access to a noiseless channel as well as a noisy multiple-access channel or broadcast channel, where inputs are controlled by the bidders and outputs are observed by verifiers. In the case of multiple bidders and a single verifier connected by a non-redundant multiple-access channel, we characterize the commitment capacity region when bidders are not colluding. When the bidders are colluding, we derive an achievable region and a tight converse for the sum rate. In both cases our proposed achievable commitment schemes are constructive. In the case of a single bidder and multiple verifiers connected by a non-redundant broadcast channel, in which verifiers could drop out of the network after auctions are committed, we also characterize the commitment capacity. Our results demonstrate how commitment schemes can benefit from multi-user protocols, and develop resilience when some verifiers may become unavailable.
Evaluating the Propensity of Generative AI for Producing Harmful Disinformation During the 2024 US Election Cycle
Venue: arXiv cs.AI 2025
Year: 2025

Generative Artificial Intelligence offers a powerful tool for adversaries who wish to engage in influence operations, such as the Chinese Spamouflage operation and the Russian Internet Research Agency effort that both sought to interfere with recent US election cycles. Therefore, this study seeks to investigate the propensity of current generative AI models for producing harmful disinformation during an election cycle. The probability that different generative AI models produced disinformation when given adversarial prompts was evaluated, in addition to the associated harm. This allows for the expected harm for each model to be computed and it was discovered that Copilot and Gemini tied for the overall safest performance by realizing the lowest expected harm, while GPT-4o produced the greatest rates of harmful disinformation, resulting in much higher expected harm scores. The impact of disinformation category was also investigated and Gemini was safest within the political category of disinformation due to mitigation attempts made by developers during the election, while Copilot was safest for topics related to health. Moreover, characteristics of adversarial roles were discovered that led to greater expected harm across all models. Finally, classification models were developed that predicted disinformation production based on the conditions considered in this study, which offers insight into factors important for predicting disinformation production. Based on all of these insights, recommendations are provided that seek to mitigate factors that lead to harmful disinformation being produced by generative AI models. It is hoped that developers will use these insights to improve future models.
ClassEval-T: Evaluating Large Language Models in Class-Level Code Translation
Venue: arXiv cs.SE 2025
Year: 2025

In recent years, Large Language Models (LLMs) have dramatically advanced the performance of automated code translation, making their computational accuracy score reach up to over 80% on many previous benchmarks. However, most code samples in these benchmarks are short, standalone, statement/method-level, and algorithmic, which is not aligned with practical coding tasks. Therefore, it is still unknown the actual capability of LLMs in translating code samples written for daily development. To achieve this, we construct a class-level code translation benchmark, ClassEval-T, and make the first attempt to extensively assess recent LLMs' performance on class-level code translation. ClassEval-T is extended from ClassEval, a well-known class-level Python code generation benchmark consisting of multiple practical coding topics, such as database operation and game design, and diverse contextual dependencies (e.g., fields, methods, and libraries). It cost us 360 person-hours to accomplish the manual migration to Java and C++ with complete code samples and associated test suites. Subsequently, we design three translation strategies (i.e., holistic, min-dependency, and standalone) for class-level code translations and evaluate eight recent LLMs of commercial, general, and code kinds in diverse families and sizes on ClassEval-T. Experimental results demonstrate a remarkable performance drop compared with the most widely studied method-level code translation benchmark, and obvious discrepancies among LLMs appear, showing the effectiveness of ClassEval-T in measuring recent LLMs. Afterwards, we further discuss the usage scenarios for diverse translation strategies and LLMs' ability to dependency awareness when translating class samples. Finally, 1,243 failure cases made by the best-performing LLM under test are analyzed and categorized in this paper for practical guidance and future enlightenment.
Security Implications of User Non-compliance Behavior to Software Updates: A Risk Assessment Study
Venue: arXiv cs.SE 2025
Year: 2025

Software updates are essential to enhance security, fix bugs, and add better features to the existing software. While some users accept software updates, non-compliance remains a widespread issue. While some users accept software updates, non-compliance remains a widespread issue. End users' systems remain vulnerable to security threats when security updates are not installed or are installed with a delay. Despite research efforts, users' noncompliance behavior with software updates is still prevalent. In this study, we explored how psychological factors influence users' perception and behavior toward software updates. In addition, we investigated how information about potential vulnerabilities and risk scores influences their behavior. Next, we proposed a model that utilizes attributes from the National Vulnerability Database (NVD) to effectively assess the overall risk score associated with delaying software updates. Next, we conducted a user study with Windows OS users, showing that providing a risk score for not updating their systems and information about vulnerabilities significantly increased users' willingness to update their systems. Additionally, we examined the influence of demographic factors, gender, on users' decision-making regarding software updates. Our results show no statistically significant difference in male and female users' responses in terms of concerns about securing their systems. The implications of this study are relevant for software developers and manufacturers as they can use this information to design more effective software update notification messages. The communication of the potential risks and their corresponding risk scores may motivate users to take action and update their systems in a timely manner, which can ultimately improve the overall security of the system.
A Comprehensive Survey and Guide to Multimodal Large Language Models in Vision-Language Tasks
Venue: arXiv cs.AI 2025
Year: 2025

This survey and application guide to multimodal large language models(MLLMs) explores the rapidly developing field of MLLMs, examining their architectures, applications, and impact on AI and Generative Models. Starting with foundational concepts, we delve into how MLLMs integrate various data types, including text, images, video and audio, to enable complex AI systems for cross-modal understanding and generation. It covers essential topics such as training methods, architectural components, and practical applications in various fields, from visual storytelling to enhanced accessibility. Through detailed case studies and technical analysis, the text examines prominent MLLM implementations while addressing key challenges in scalability, robustness, and cross-modal learning. Concluding with a discussion of ethical considerations, responsible AI development, and future directions, this authoritative resource provides both theoretical frameworks and practical insights. It offers a balanced perspective on the opportunities and challenges in the development and deployment of MLLMs, and is highly valuable for researchers, practitioners, and students interested in the intersection of natural language processing and computer vision.
TinyML NLP Scheme for Semantic Wireless Sentiment Classification with Privacy Preservation
Venue: arXiv cs.LG 2025
Year: 2025

Natural Language Processing (NLP) operations, such as semantic sentiment analysis and text synthesis, often raise privacy concerns and demand significant on-device computational resources. Centralized learning (CL) on the edge provides an energy-efficient alternative but requires collecting raw data, compromising user privacy. While federated learning (FL) enhances privacy, it imposes high computational energy demands on resource-constrained devices. This study provides insights into deploying privacy-preserving, energy-efficient NLP models on edge devices. We introduce semantic split learning (SL) as an energy-efficient, privacy-preserving tiny machine learning (TinyML) framework and compare it to FL and CL in the presence of Rayleigh fading and additive noise. Our results show that SL significantly reduces computational power and CO2 emissions while enhancing privacy, as evidenced by a fourfold increase in reconstruction error compared to FL and nearly eighteen times that of CL. In contrast, FL offers a balanced trade-off between privacy and efficiency. Our code is available for replication at our GitHub repository: https://github.com/AhmedRadwan02/TinyEco2AI-NLP.
One Attack to Rule Them All: Tight Quadratic Bounds for Adaptive Queries on Cardinality Sketches
Venue: arXiv cs.DS 2025
Year: 2025

Cardinality sketches are compact data structures for representing sets or vectors. These sketches are space-efficient, typically requiring only logarithmic storage in the input size, and enable approximation of cardinality (or the number of nonzero entries). A crucial property in applications is \emph{composability}, meaning that the sketch of a union of sets can be computed from individual sketches. Existing designs provide strong statistical guarantees, ensuring that a randomly sampled sketching map remains robust for an exponential number of queries in terms of the sketch size $k$. However, these guarantees degrade to quadratic in $k$ when queries are \emph{adaptive}, meaning they depend on previous responses. Prior works on statistical queries (Steinke and Ullman, 2015) and specific MinHash cardinality sketches (Ahmadian and Cohen, 2024) established that this is tight in that they can be compromised using a quadratic number of adaptive queries. In this work, we develop a universal attack framework that applies to broad classes of cardinality sketches. We show that any union-composable sketching map can be compromised with $\tilde{O}(k^4)$ adaptive queries and this improves to a tight bound of $\tilde{O}(k^2)$ for monotone maps (including MinHash, statistical queries, and Boolean linear maps). Similarly, any linear sketching map over the reals $\mathbb{R}$ and finite fields $\mathbb{F}_p$ can be compromised using $\tilde{O}(k^2)$ adaptive queries, which is optimal and strengthens some of the recent results by~\citet{GribelyukLWYZ:FOCS2024}, who established a weaker polynomial bound.
Epistemic Integrity in Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

Large language models are increasingly relied upon as sources of information, but their propensity for generating false or misleading statements with high confidence poses risks for users and society. In this paper, we confront the critical problem of epistemic miscalibration $\unicode{x2013}$ where a model's linguistic assertiveness fails to reflect its true internal certainty. We introduce a new human-labeled dataset and a novel method for measuring the linguistic assertiveness of Large Language Models (LLMs) which cuts error rates by over 50% relative to previous benchmarks. Validated across multiple datasets, our method reveals a stark misalignment between how confidently models linguistically present information and their actual accuracy. Further human evaluations confirm the severity of this miscalibration. This evidence underscores the urgent risk of the overstated certainty LLMs hold which may mislead users on a massive scale. Our framework provides a crucial step forward in diagnosing this miscalibration, offering a path towards correcting it and more trustworthy AI across domains.
Flight Demonstration and Model Validation of a Prototype Variable-Altitude Venus Aerobot
Venue: arXiv cs.RO 2025
Year: 2025

This paper details a significant milestone towards maturing a buoyant aerial robotic platform, or aerobot, for flight in the Venus clouds. We describe two flights of our subscale altitude-controlled aerobot, fabricated from the materials necessary to survive Venus conditions. During these flights over the Nevada Black Rock desert, the prototype flew at the identical atmospheric densities as 54 to 55 km cloud layer altitudes on Venus. We further describe a first-principle aerobot dynamics model which we validate against the Nevada flight data and subsequently employ to predict the performance of future aerobots on Venus. The aerobot discussed in this paper is under JPL and Aerostar development for an in-situ mission flying multiple circumnavigations of Venus, sampling the chemical and physical properties of the planet's atmosphere and also remotely sensing surface properties.